EP0605050A3 - ContrÔleur de mouvement des machines employant un modèle adaptif cinématique. - Google Patents
ContrÔleur de mouvement des machines employant un modèle adaptif cinématique. Download PDFInfo
- Publication number
- EP0605050A3 EP0605050A3 EP93203649A EP93203649A EP0605050A3 EP 0605050 A3 EP0605050 A3 EP 0605050A3 EP 93203649 A EP93203649 A EP 93203649A EP 93203649 A EP93203649 A EP 93203649A EP 0605050 A3 EP0605050 A3 EP 0605050A3
- Authority
- EP
- European Patent Office
- Prior art keywords
- motion controller
- kinematic model
- machine motion
- controller employing
- employing adaptive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39206—Joint space position control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39406—Obtain optimal parameters of model of system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39412—Diagnostic of robot, estimation of parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40124—During manipulator motion, sensor feedback to adapt model in memory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40527—Modeling, identification of link parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42152—Learn, self, auto tuning, calibrating, environment adaptation, repetition
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42156—Forward dynamics model fdm
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US99797992A | 1992-12-28 | 1992-12-28 | |
US997979 | 1992-12-28 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0605050A2 EP0605050A2 (fr) | 1994-07-06 |
EP0605050A3 true EP0605050A3 (fr) | 1997-02-26 |
Family
ID=25544622
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP93203649A Withdrawn EP0605050A3 (fr) | 1992-12-28 | 1993-12-23 | ContrÔleur de mouvement des machines employant un modèle adaptif cinématique. |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0605050A3 (fr) |
JP (1) | JPH06230812A (fr) |
KR (1) | KR940015733A (fr) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001515236A (ja) | 1997-09-04 | 2001-09-18 | ダイナログ インコーポレイテッド | ロボット検査システムを較正するための方法 |
DE19826395A1 (de) * | 1998-06-12 | 1999-12-23 | Amatec Gmbh | Verfahren zum Erfassen und Kompensieren von kinematischen Veränderungen eines Roboters |
FI123361B (fi) | 2007-10-01 | 2013-03-15 | Sandvik Mining & Constr Oy | Menetelmä ja laitteisto sekä tietokoneohjelma hydraulikäyttöisen puomin toiminnan säätämiseksi |
DE102007060682B4 (de) * | 2007-12-17 | 2015-08-20 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zur modellbasierten Regelung eines Manipulators |
FR2928387B1 (fr) * | 2008-03-10 | 2012-11-16 | Westline | Procede et systeme de calibration automatique des engins de terrassement |
DE102009054112A1 (de) * | 2009-11-20 | 2011-05-26 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zur Planung und/oder Steuerung einer Roboterapplikation |
DE102010031251A1 (de) * | 2010-07-12 | 2012-01-12 | Kuka Roboter Gmbh | Roboterarm, Industrieroboter und Verfahren zum Erstellen eines mathematischen Robotermodells |
JP5941083B2 (ja) | 2014-03-12 | 2016-06-29 | ファナック株式会社 | 外部環境との接触を検知するロボット制御装置 |
EP3530418A1 (fr) * | 2018-02-21 | 2019-08-28 | Siemens Aktiengesellschaft | Procédé et appareil de détermination d'un déroulement de mouvements optimisé d'un dispositif robot |
CN108638098B (zh) * | 2018-04-25 | 2020-09-25 | 清华大学 | 全向交错摆动杆阵自适应机器人手装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4725965A (en) * | 1986-07-23 | 1988-02-16 | American Telephone And Telegraph Company | Method for calibrating a SCARA robot |
EP0269878A2 (fr) * | 1986-10-31 | 1988-06-08 | The Pratt & Whitney Company, Inc. | Méthode pour la génération de données de commande d'axes pour la commande d'une rectifieuse ou similaire et un système à cet effet |
-
1993
- 1993-12-23 EP EP93203649A patent/EP0605050A3/fr not_active Withdrawn
- 1993-12-24 JP JP5328729A patent/JPH06230812A/ja active Pending
- 1993-12-28 KR KR1019930031751A patent/KR940015733A/ko not_active Application Discontinuation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4725965A (en) * | 1986-07-23 | 1988-02-16 | American Telephone And Telegraph Company | Method for calibrating a SCARA robot |
EP0269878A2 (fr) * | 1986-10-31 | 1988-06-08 | The Pratt & Whitney Company, Inc. | Méthode pour la génération de données de commande d'axes pour la commande d'une rectifieuse ou similaire et un système à cet effet |
Also Published As
Publication number | Publication date |
---|---|
JPH06230812A (ja) | 1994-08-19 |
KR940015733A (ko) | 1994-07-21 |
EP0605050A2 (fr) | 1994-07-06 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): DE FR GB |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: N.V. PHILIPS' GLOEILAMPENFABRIEKEN |
|
PUAL | Search report despatched |
Free format text: ORIGINAL CODE: 0009013 |
|
AK | Designated contracting states |
Kind code of ref document: A3 Designated state(s): DE FR GB |
|
RHK1 | Main classification (correction) |
Ipc: G05B 13/04 |
|
17P | Request for examination filed |
Effective date: 19970826 |
|
RAP3 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: KONINKLIJKE PHILIPS ELECTRONICS N.V. |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 19980701 |